A tracking method for vehicle-mounted phased array antenna in motion

Abstract

The present invention discloses a vehicle-mounted phased array moving communication antenna tracking method, comprising: after the combined inertial navigation converges, every T1 time, the azimuth angle A, the pitch angle E and the polarization angle V of the antenna beam are obtained; and the azimuth angle A, the pitch angle E and the polarization angle V are used as the target angle to control the antenna beam to point to the satellite; after the signal receiver is locked, the horizontal center point H0=A and the vertical center point V0=E are initialized to enter the tracking state; it is determined whether the satellite signal is in an obstruction state, if not, the scanning tracking mode is entered; if so, it is determined whether the satellite signal is completely obstructed and the obstruction time is greater than the signal strength threshold; if not, the scanning tracking mode is entered; if so, the scanning satellite mode is entered. Through the vehicle-mounted phased array moving communication antenna tracking method disclosed by the present invention, stable and reliable satellite communication can be achieved.

Description

Technical Field

[0001] The invention relates to the technical field of satellite communications, and in particular to a vehicle-mounted phased array satellite communications-in-motion antenna tracking method. Background Art

[0002] Satellite communication is an important supplement to ground communication. Satellite signals have a wide coverage, especially in places without ground signal coverage such as mountains, snowfields, and deserts. Satellite signals can cover all areas, especially geosynchronous orbit satellites. Three geosynchronous orbit satellites can cover all areas except the North and South Poles of the Earth. Satellites are located outside the Earth's atmosphere and are not affected by natural disasters such as earthquakes and floods. Communications are stable and reliable. Satellite communications have long distances and relatively fixed communication delays, and can send video and voice signals from the front to the back.

[0003] The mobile communication system integrates the satellite communication system into vehicles, ships, aircraft and other carriers, and has the advantages of long communication distance, fast networking, excitement and flexibility. The mobile communication system has broad application prospects in military and civilian fields such as emergency communication, news interviews, and combat command.

[0004] The vehicle-mounted mobile communication system communicates with the vehicle while it is driving on the ground. In order to maintain stable communication while the vehicle is driving, it is necessary to control the azimuth, pitch, roll and polarization of the antenna in real time according to the vehicle's posture so that the antenna beam is aligned with the satellite direction. Therefore, it is necessary to design a stable, reliable, accurate, low-complexity and low-cost vehicle-mounted mobile communication antenna tracking method.

[0005] In the prior art, the invention patent with the patent publication number CN105045298A discloses a tracking control method for a moving communication antenna based on the measurement lag of the inertial navigation system. The driving angle values ​​of the current antenna pitch axis and azimuth axis are calculated through the navigation information of the inertial navigation system; then, in each antenna drive control cycle, the advance drive compensation of the antenna pitch axis and azimuth axis is introduced using the preset advance drive coefficient, and sent to the antenna control system to drive the antenna to rotate, thereby realizing the tracking compensation control of the antenna. This method solves the problem of tracking delay of the antenna system caused by the measurement lag of the inertial navigation system, and effectively improves the satellite tracking accuracy of the moving communication antenna under large dynamic conditions. The prior art solves the problem of data delay across cycles, which leads to a decrease in the accuracy of antenna tracking satellites. Summary of the invention

[0006] The technical problem to be solved by the present invention is to solve the problem that a vehicle-mounted in-motion communication antenna can achieve stable and reliable satellite communication both in motion and in stillness.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0008] A vehicle-mounted phased array communication-in-motion antenna tracking method comprises the following steps:

[0009] S100, after the combined inertial navigation converges, every T1 time, according to the azimuth, pitch angle, roll angle, longitude and latitude output by the combined inertial navigation and the longitude information of the satellite, the rotation matrix is ​​used to obtain the azimuth A, pitch angle E and polarization angle V of the antenna beam; and the azimuth A, pitch angle E and polarization angle V are used as the target angle to control the antenna beam to point to the satellite; after the signal receiver is locked, the horizontal center point H0=A and the vertical center point V0=E are initialized to enter the tracking state;

[0010] S200, determining whether the satellite signal is in an obstruction state. If not, entering a scanning and tracking mode. After the scanning and tracking mode is completed, looping again to determine whether the satellite signal is in an obstruction state. If so, determining whether the satellite signal is completely obstructed and the obstruction time is greater than a signal strength threshold.

[0011] S300, if not, enter the scanning and tracking mode, and after the scanning and tracking mode is completed, loop again to determine whether the satellite signal is in an obstruction state; if yes, enter the scanning satellite mode, and after the scanning satellite mode is completed, loop again to determine whether the satellite signal is in an obstruction state.

[0012] In one embodiment of the present invention, the azimuth angle A, elevation angle E and polarization angle V of the antenna beam are obtained by the following formula:

[0013]

[0014] E = arcsinCnT(2,2);

[0015]

[0016] Wherein, CnT(2,1) is the element in the second row and first column of the rotation matrix from the antenna coordinate system to the beam coordinate system, CnT(2,2) is the element in the second row and second column of the rotation matrix from the antenna coordinate system to the beam coordinate system, CnT(1,3) is the element in the first row and third column of the rotation matrix from the antenna coordinate system to the beam coordinate system, and CnT(3,3) is the element in the third row and third column of the rotation matrix from the antenna coordinate system to the beam coordinate system; arctan is the inverse tangent function, and arcsin is the inverse sine function.

[0017] In one embodiment of the present invention, the scanning tracking mode is:

[0018] S210, starting from the horizontal center point, scanning b° to the left, recording the signal strength value AGC_L obtained from the signal receiver, returning to the horizontal center point, and then scanning b° to the right, recording the signal strength value AGC_R obtained from the signal receiver, and returning to the horizontal center point; comparing the signal strength values, if the signal strength value AGC_L is larger, the horizontal center point is deflected a° to the left, and the horizontal center point H′0=H0-a° is updated; if the signal strength value AGC_R is larger, the starting point angle is deflected a° to the right, and the horizontal center point H′0=H0+a° is updated; if the signal strength value AGC_L is equal to the signal strength value AGC_R, the horizontal center point remains unchanged;

[0019] S220, starting from the vertical center point, scanning upward by e°, recording the signal strength value AGC_U obtained from the signal receiver, returning to the vertical center point, and then scanning downward by e°, recording the signal strength value AGC_D obtained from the signal receiver, and returning to the vertical center point; comparing the signal strength values, if the signal strength value AGC_U is larger, the starting point angle is deflected upward by c°, and the vertical center point V′0=V0+c° is updated; if the signal strength value AGC_D is larger, the starting point angle is deflected downward by c°, and the vertical center point V′0=V0-c° is updated; if the signal strength value AGC_U is equal to the signal strength value AGC_D, the vertical center point remains unchanged;

[0020] S230, at every T1 time interval, based on the azimuth, pitch angle, roll angle, longitude and latitude output by the combined inertial navigation and the longitude information of the satellite, use the rotation matrix to calculate the azimuth A1 and pitch angle E1 of the antenna beam at the previous moment, and the azimuth A2 and pitch angle E2 of the antenna beam at the next moment, obtain the azimuth angle difference ΔA and the pitch angle difference ΔE, update the horizontal center point H′0=H0+ΔA, and update the vertical center point V′0=V0+ΔE.

[0021] In one embodiment of the present invention, determining the blocking state of a satellite signal includes:

[0022] If the number of GPS satellites of the integrated inertial navigation is greater than 5, and the signal strength value AGC value of the signal receiver is less than the satellite lock threshold, it is judged that the antenna is in a partially blocked state, and the scanning and tracking mode is entered;

[0023] If the number of GPS satellites of the integrated inertial navigation is less than 5 or 0, and the signal strength value AGC value of the signal receiver is less than the satellite lock threshold or the signal receiver feedback loses lock, it enters the full blockage state. If the full blockage time is greater than the satellite loss threshold time, it enters the satellite scanning mode.

[0024] In one embodiment of the present invention, the star lock threshold is an average value of the signal strength AGC values ​​obtained when the antenna rotates one circle after being powered on, recording the signal strength AGC values ​​every 1 second, and stopping the rotation.

[0025] In one embodiment of the present invention, the satellite loss threshold time is obtained by using the ratio of the 3 dB beam width of the satellite beam to the gyro drift speed of the combined inertial navigation.

[0026] In one embodiment of the present invention, the satellite scanning mode includes:

[0027] S310, record the time t of entering the shielding environment, and calculate the gyro drift speed ω according to the combined inertial navigation azimuth H And the satellite horizontal beam half-wave width Φ H , the minimum angle required for horizontal scanning is: φ H =Φ H -ω H *t; according to the combined inertial navigation pitch gyro drift speed ω V And the satellite vertical beam half-wave width Φ V , the minimum angle required for vertical scanning is: φ V =Φ V -ω V *t;

[0028] S320, scan up and down φ V °, left and right scan φ H °, record the maximum left and right satellite signal strength M1 during the left-right scanning process, and the maximum upper and lower satellite signal strength M2 during the up-down scanning process, and determine whether the maximum left and right satellite signal strength M1 and the maximum upper and lower satellite signal strength M2 are both greater than the satellite lock threshold;

[0029] S330, if yes, then update the horizontal center point H0 = the current heading angle of the combined inertial navigation, update the vertical center point V0 = the current pitch angle of the combined inertial navigation, and enter the occlusion state judgment; if no, return to step S320 and continue scanning.

[0030] In one embodiment of the present invention, the signal receiver is a signal modem or a satellite signal receiver.

[0031] In one embodiment of the present invention, the vehicle-mounted phased array in-motion antenna tracking method adopts a combined inertial navigation system with dual antennas.

[0032] In one embodiment of the present invention, the combined inertial navigation is placed on an antenna base or an antenna disk; if placed on the antenna base, the azimuth, pitch, roll, longitude and latitude of the antenna base in the geographic coordinate system and the longitude information of the satellite are obtained; if placed on the antenna disk, the azimuth, pitch, roll, longitude and latitude of the antenna disk in the geographic coordinate system and the longitude information of the satellite are obtained.

[0033] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention can make the antenna beam of the vehicle-mounted mobile communication always point to the direction of the satellite in azimuth, pitch and polarization directions when the vehicle is moving or stationary, so as to achieve stable and reliable satellite communication, which is mainly reflected in the following aspects: 1. The attitude information of the antenna is obtained in real time through the inertial navigation of the dual GPS antenna, and the directional information of the beam is calculated in real time through the rotation matrix, and the azimuth, pitch and polarization of the antenna are controlled to be aligned with the satellite in real time. The antenna can be aligned with the satellite in the process of high-speed movement or stationary. 2. The pointing error of the inertial navigation is corrected in real time through conical scanning, so that the antenna beam can be pointed to the satellite direction more accurately. When encountering various obstruction environments, the antenna beam can be kept relatively accurately pointing to the satellite direction, and communication can be quickly restored after leaving the obstruction area. The present invention now has a shorter occlusion recovery time than almost all antennas of the same type on the market. 3. The rotation matrix used in the present invention can directly calculate the azimuth, pitch and polarization angle of the beam in the antenna coordinate system, and can update the change of the polarization angle in real time during the movement, so that the antenna can maintain the maximum cross-polarization isolation, meet the requirements of various satellite operators, and is simpler than the existing calculation formula. 4. The antenna control period used in the present invention is 100Hz, and the delay of one period can be ignored for the pointing accuracy of the target satellite. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 The present invention is a flow chart of a method for tracking a vehicle-mounted phased array communication-in-motion antenna according to an embodiment of the present invention.

[0035] Figure 2 FIG. 4 is a flow chart of a scanning tracking mode according to an embodiment of the present invention.

[0036] Figure 3 FIG. 4 is a flowchart of a scanning satellite mode according to an embodiment of the present invention. DETAILED DESCRIPTION

[0037] In order to facilitate those skilled in the art to understand the technical solution of the present invention, the technical solution of the present invention is further described in conjunction with the accompanying drawings of the specification.

[0038] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0039] See also Figure 1 As shown, the present invention discloses a vehicle-mounted phased array moving antenna tracking method, comprising:

[0040] S100, after the combined inertial navigation converges, every T1 time, according to the azimuth, pitch angle, roll angle, longitude and latitude output by the combined inertial navigation and the longitude information of the satellite, the rotation matrix is ​​used to obtain the azimuth A, pitch angle E and polarization angle V of the antenna beam. The azimuth A, pitch angle E and polarization angle V are used as the target angle to control the antenna beam to point to the satellite; after the signal receiver is locked, the horizontal center point H0 = A and the vertical center point V0 = E are initialized to enter the tracking state.

[0041] S200, determine whether the satellite signal is in an obstruction state. If not, enter the scanning and tracking mode. After the scanning and tracking mode is completed, loop again to determine whether the satellite signal is in an obstruction state; if so, determine whether the satellite signal is completely obstructed and the obstruction time is greater than the signal strength threshold.

[0042] S300, if not, enter the scanning and tracking mode, and after the scanning and tracking mode is completed, loop again to determine whether the satellite signal is in an obstruction state; if yes, enter the scanning satellite mode, and after the scanning satellite mode is completed, loop again to determine whether the satellite signal is in an obstruction state.

[0043] In one embodiment of the present invention, a dual-antenna combined inertial navigation is used as a motion sensor, which can be placed on an antenna base or an antenna disk. If placed on the antenna base, the azimuth, pitch, roll, longitude and latitude of the antenna base in the geographic coordinate system and the longitude information of the satellite are obtained; if placed on the antenna disk, the azimuth, pitch, roll, longitude and latitude of the antenna disk in the geographic coordinate system and the longitude information of the satellite are obtained. And, the signal receiver is a signal modem (satellite cat) or a satellite signal receiver, which is used to provide signal strength value information.

[0044] In one embodiment of the present invention, the azimuth angle A, the pitch angle E and the polarization angle V of the antenna beam are obtained by the following formula. According to the azimuth angle, pitch angle, roll angle, longitude and latitude output by the combined inertial navigation and the longitude information of the satellite, the azimuth angle An, the pitch angle En and the polarization angle Vn of the antenna beam direction in the geographic coordinate system are obtained, and then:

[0045]

[0046]

[0047]

[0048] Where L1 is the satellite longitude, L2 is the longitude of the antenna location, B is the latitude of the antenna location, Re is the radius of the earth, and H is the height of the geosynchronous orbit. sin, cos, tan, and arctan are different trigonometric functions.

[0049] Let the rotation matrix of the XYZ axis be:

[0050]

[0051]

[0052]

[0053] X, Y and Z are the corresponding coordinate values ​​on the XYZ axis respectively, M1(X) is the rotation matrix on the X axis, M2(Y) is the rotation matrix on the Y axis, and M3(Z) is the rotation matrix on the Z axis.

[0054] Then, the rotation matrix from the geographic coordinate system to the ideal beam coordinate system is:

[0055] CnA=M3(Vn)*M2(En)*M1(An);

[0056] The rotation matrix from the geographic coordinate system to the antenna coordinate system is:

[0057] Cnb = M3(R)*M2(P)*M1(Y);

[0058] Where R is the carrier roll angle, P is the carrier pitch angle, and Y is the carrier heading angle.

[0059] The rotation matrix from the antenna coordinate system to the beam coordinate system is:

[0060] CnT=M3(c)*M2(b)*M1(a);

[0061] Where c is the polarization angle of the antenna beam relative to the antenna coordinate system, b is the elevation angle of the antenna beam relative to the antenna coordinate system, and a is the azimuth angle of the antenna beam relative to the antenna coordinate system.

[0062] Under ideal communication conditions, from the geographic coordinate system to the antenna coordinate system, and then to the ideal beam coordinate system, the two beam coordinate systems of the antenna should coincide, that is,

[0063] CnA=CnT*Cnb;

[0064] We can obtain CnT=CnA*Cnb T ; Where T is the permutation. Finally, the azimuth angle A, elevation angle E and polarization angle V of the antenna beam in the antenna coordinate system are obtained.

[0065]

[0066] E = arcsinCnT(2,2);

[0067]

[0068] Wherein, CnT(2,1) is the element in the second row and first column of the rotation matrix from the antenna coordinate system to the beam coordinate system, CnT(2,2) is the element in the second row and second column of the rotation matrix from the antenna coordinate system to the beam coordinate system, CnT(1,3) is the element in the first row and third column of the rotation matrix from the antenna coordinate system to the beam coordinate system, CnT(3,3) is the element in the third row and third column of the rotation matrix from the antenna coordinate system to the beam coordinate system, arctan is the inverse tangent function, and arcsin is the inverse sine function.

[0069] See also Figures 1 to 3 As shown, in one embodiment of the present invention, the vehicle-mounted mobile communication environment can be divided into an obstructed environment and a non-obstructed environment. In a non-obstructed environment, this solution provides carrier attitude information through a dual GPS antenna combined inertial navigation, calculates the satellite's position, pitch and polarization information in the antenna coordinate system in real time, controls the antenna beam to point to the satellite, performs cross scanning through satellite signals, and finely adjusts the fusion method of the antenna beam pointing to achieve precise alignment with the satellite. The obstructed environment can be divided into two scenarios: 1. There is obstruction only in the direction of the satellite, such as tall buildings, tall trees, mountains, etc.; 2. Complete obstruction, the vehicle is driving in a tunnel and other environments. For the first case, driving out of the obstruction area can instantly restore communication; for the second case, communication can be quickly restored by scanning the satellite mode. Specifically, the obstruction status of the satellite signal is first determined, including:

[0070] If the number of GPS satellites of the combined inertial navigation is greater than 5, and the signal strength value AGC value of the signal receiver is less than the satellite lock threshold, the antenna is judged to be in a partially blocked state. The azimuth, pitch and polarization angles of the antenna beam are obtained directly based on the attitude information output by the combined inertial navigation, and the scanning and tracking mode is entered.

[0071] If the number of GPS satellites of the integrated inertial navigation is less than 5 or 0, and the signal strength value AGC value of the signal receiver is less than the satellite lock threshold or the signal receiver feedback loses lock, it enters the full blockage state. If the full blockage time is greater than the satellite loss threshold time, it enters the satellite scanning mode.

[0072] In this embodiment, the satellite lock threshold is the average value of the signal strength value AGC obtained after the antenna rotates one circle after being turned on, recording the signal strength value AGC value every 1s, and stopping the rotation. The satellite loss threshold time is obtained by using the ratio of the satellite beam 3dB width to the gyro drift speed of the combined inertial navigation. Specifically, the satellite loss threshold time is 15s.

[0073] See also Figures 1 to 3 As shown, in one embodiment of the present invention, the scanning tracking mode is:

[0074] S210, starting from the horizontal center point, scanning b° to the left, recording the signal strength value AGC_L obtained from the signal receiver, returning to the horizontal center point, and then scanning b° to the right, recording the signal strength value AGC_R obtained from the signal receiver, and returning to the horizontal center point; comparing the signal strength values, if the signal strength value AGC_L is larger, the horizontal center point is deflected a° to the left, and the horizontal center point H′0=H0-a° is updated; if the signal strength value AGC_R is larger, the starting point angle is deflected a° to the right, and the horizontal center point H′0=H0+a° is updated; if the signal strength value AGC_L is equal to the signal strength value AGC_R, the horizontal center point remains unchanged;

[0075] S220, taking the vertical center point as the starting point, scan upward by e°, record the signal strength value AGC_U obtained from the signal receiver, return to the vertical center point, and then scan downward by e°, record the signal strength value AGC_D obtained from the signal receiver, and return to the vertical center point; compare the signal strength values, if the signal strength value AGC_U is larger, then the starting point angle is deflected upward by c°, and the vertical center point V′0=V0+c° is updated; if the signal strength value AGC_D is larger, then the starting point angle is deflected downward by c°, and the vertical center point V′0=V0-c° is updated; if the signal strength value AGC_U is equal to the signal strength value AGC_D, the vertical center point remains unchanged.

[0076] S230, at every T1 time interval, based on the azimuth, pitch angle, roll angle, longitude and latitude output by the combined inertial navigation and the longitude information of the satellite, use the rotation matrix to calculate the azimuth A1 and pitch angle E1 of the antenna beam at the previous moment, and the azimuth A2 and pitch angle E2 of the antenna beam at the next moment, obtain the azimuth angle difference ΔA and the pitch angle difference ΔE, update the horizontal center point H′0=H0+ΔA, and update the vertical center point V′0=V0+ΔE.

[0077] In one embodiment of the present invention, when the left-right scanning b° is 0.15°, the left-right deflection a° of the horizontal center point is 0.1°, and when the up-down scanning e° is 0.3°, the vertical center point deflection c° is 0.1°.

[0078] See also Figures 1 to 3 As shown, in one embodiment of the present invention, the scanning satellite mode includes:

[0079] S310, record the time t of entering the shielding environment, and calculate the gyro drift speed ω according to the combined inertial navigation azimuth H And the satellite horizontal beam half-wave width Φ H , the minimum angle required for horizontal scanning is: φ H =Φ H -ω H *t; according to the combined inertial navigation pitch gyro drift speed ωV And the satellite vertical beam half-wave width Φ V , the minimum angle required for vertical scanning is: φ V =Φ V -ω V *t.

[0080] S320, scan up and down φ V °, left and right scan φ H °, record the maximum left and right satellite signal strength M1 during the left-right scanning process, and the maximum upper and lower satellite signal strength M2 during the up-down scanning process, and determine whether the maximum left and right satellite signal strength M1 and the maximum upper and lower satellite signal strength M2 are both greater than the satellite lock threshold.

[0081] S330, if yes, then update the horizontal center point H0 = the current heading angle of the combined inertial navigation, update the vertical center point V0 = the current pitch angle of the combined inertial navigation, and enter the occlusion state judgment; if no, return to step S320 and continue scanning.

[0082] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-limiting from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention, and any reference numerals in the claims should not be regarded as limiting the claims involved.

[0083] The above-described embodiments merely represent implementation methods of the invention. The protection scope of the present invention is not limited to the above-described embodiments. For those skilled in the art, several modifications and improvements may be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A vehicle-mounted phased array moving antenna tracking method, characterized in that: The following steps are involved: S100, after the combined inertial navigation converges, every T1 time, according to the azimuth, pitch angle, roll angle, longitude and latitude output by the combined inertial navigation and the longitude information of the satellite, the rotation matrix is ​​used to obtain the azimuth A, pitch angle E and polarization angle V of the antenna beam; and the azimuth A, pitch angle E and polarization angle V are used as the target angle to control the antenna beam to point to the satellite; after the signal receiver is locked, the horizontal center point H0=A and the vertical center point V0=E are initialized to enter the tracking state; S200, determining whether the satellite signal is in an obstruction state, if not, entering a scanning and tracking mode, and after the scanning and tracking mode is completed, looping again to determine whether the satellite signal is in an obstruction state; If so, determine whether the satellite signal is completely blocked and the blocking time is greater than the signal strength threshold; S300, if not, then enter the scanning and tracking mode, and after the scanning and tracking mode is completed, loop again to determine whether the satellite signal is in an obstruction state; If yes, then enter the satellite scanning mode, after the satellite scanning mode is completed, loop again to determine whether the satellite signal is in an obstruction state; The satellite scanning mode includes: S310, record the time t of entering the shielding environment, and calculate the gyro drift speed ω according to the combined inertial navigation azimuth H And the satellite horizontal beam half-wave width Φ H , the minimum angle required for horizontal scanning is: φ H =Φ H -ω H *t; according to the combined inertial navigation pitch gyro drift speed ω V And the satellite vertical beam half-wave width Φ V , the minimum angle required for vertical scanning is: φ V =Φ V -ω V *t; S320, scan up and down φ V °, left and right scan φ H °, record the maximum left and right satellite signal strength M1 during the left-right scanning process, and the maximum upper and lower satellite signal strength M2 during the up-down scanning process, and determine whether the maximum left and right satellite signal strength M1 and the maximum upper and lower satellite signal strength M2 are both greater than the satellite lock threshold; S330, if yes, then update the horizontal center point H0 = the current heading angle of the combined inertial navigation, update the vertical center point V0 = the current pitch angle of the combined inertial navigation, and enter the occlusion state judgment; if no, return to step S320 and continue scanning.

2. The vehicle-mounted phased array in-motion antenna tracking method according to claim 1 is characterized in that: The azimuth angle A, elevation angle E and polarization angle V of the antenna beam are obtained by the following formula: Wherein, CnT(2,1) is the element in the second row and first column of the rotation matrix from the antenna coordinate system to the beam coordinate system, CnT(2,2) is the element in the second row and second column of the rotation matrix from the antenna coordinate system to the beam coordinate system, CnT(1,3) is the element in the first row and third column of the rotation matrix from the antenna coordinate system to the beam coordinate system, and CnT(3,3) is the element in the third row and third column of the rotation matrix from the antenna coordinate system to the beam coordinate system; arctan is the inverse tangent function, and arcsin is the inverse sine function.

3. The vehicle-mounted phased array in-motion antenna tracking method according to claim 1, characterized in that: The scanning and tracking modes are: S210, starting from the horizontal center point, scanning b° to the left, recording the signal strength value AGC_L obtained from the signal receiver, returning to the horizontal center point, and then scanning b° to the right, recording the signal strength value AGC_R obtained from the signal receiver, and returning to the horizontal center point; comparing the signal strength values, if the signal strength value AGC_L is larger, the horizontal center point is deflected a° to the left, and the horizontal center point H′0=H0-a° is updated; if the signal strength value AGC_R is larger, the starting point angle is deflected a° to the right, and the horizontal center point H′0=H0+a° is updated; if the signal strength value AGC_L is equal to the signal strength value AGC_R, the horizontal center point remains unchanged; S220, starting from the vertical center point, scanning upward by e°, recording the signal strength value AGC_U obtained from the signal receiver, returning to the vertical center point, and then scanning downward by e°, recording the signal strength value AGC_D obtained from the signal receiver, and returning to the vertical center point; comparing the signal strength values, if the signal strength value AGC_U is larger, the starting point angle is deflected upward by c°, and the vertical center point V′0=V0+c° is updated; if the signal strength value AGC_D is larger, the starting point angle is deflected downward by c°, and the vertical center point V′0=V0-c° is updated; if the signal strength value AGC_U is equal to the signal strength value AGC_D, the vertical center point remains unchanged; S230, at every T1 time interval, based on the azimuth, pitch angle, roll angle, longitude and latitude output by the combined inertial navigation and the longitude information of the satellite, use the rotation matrix to calculate the azimuth A1 and pitch angle E1 of the antenna beam at the previous moment, and the azimuth A2 and pitch angle E2 of the antenna beam at the next moment, obtain the azimuth angle difference ΔA and the pitch angle difference ΔE, update the horizontal center point H′0=H0+ΔA, and update the vertical center point V′0=V0+ΔE.

4. The vehicle-mounted phased array in-motion antenna tracking method according to claim 1, characterized in that: The satellite signal blocking status judgment includes: If the number of GPS satellites of the integrated inertial navigation is greater than 5, and the signal strength value AGC value of the signal receiver is less than the satellite lock threshold, it is judged that the antenna is in a partially blocked state, and the scanning and tracking mode is entered; If the number of GPS satellites of the integrated inertial navigation is less than 5, and the signal strength value AGC value of the signal receiver is less than the satellite lock threshold or the signal receiver feedback loses lock, it enters the full blockage state. If the full blockage time is greater than the satellite loss threshold time, it enters the satellite scanning mode.

5. The vehicle-mounted phased array in-motion antenna tracking method according to claim 4 is characterized in that: The star lock threshold is the average value of the signal strength AGC value obtained after the antenna rotates one circle after being turned on, recording the signal strength value AGC value every 1 second, and stopping the rotation.

6. The vehicle-mounted phased array in-motion antenna tracking method according to claim 4, characterized in that: The satellite loss threshold time is obtained by adopting the ratio of the satellite beam 3 dB width to the gyro drift speed of the combined inertial navigation.

7. The vehicle-mounted phased array in-motion antenna tracking method according to any one of claims 1, 3 and 4, characterized in that: The signal receiver is a signal modem or a satellite signal receiver.

8. The vehicle-mounted phased array in-motion antenna tracking method according to claim 1, characterized in that: The vehicle-mounted phased array moving antenna tracking method adopts a combined inertial navigation of dual antennas.

9. The vehicle-mounted phased array in-motion antenna tracking method according to claim 1, characterized in that: The combined inertial navigation is placed on an antenna base or an antenna disk; if placed on the antenna base, the azimuth, pitch, roll, longitude and latitude of the antenna base in the geographic coordinate system and the longitude information of the satellite are obtained; If it is placed on the antenna disk, the azimuth, pitch angle, roll angle, longitude and latitude of the antenna disk in the geographic coordinate system and the longitude information of the satellite are obtained.

Images